OpenRaiser/Intern-Atlas huggingface dataset:
Communication-based Decentralized Cooperative Object Transportation Using Nonlinear Model Predictive Control
Venue: arXiv cs.RO 2018
Year: 2018

This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in a bounded workspace with obstacles, while complying with certain input saturations of the agents. The control scheme is based on inter-agent communication and is decentralized in the sense that each agent calculates its own control signal. Moreover, the proposed methodology ensures that the agents do not collide with each other or with the workspace obstacles as well as that they do not pass through singular configurations. The feasibility and convergence analysis of the NMPC are explicitly provided. Finally, simulation results illustrate the validity and efficiency of the proposed method.
A Cascaded Convolutional Neural Network for Single Image Dehazing
Venue: arXiv cs.CV 2018
Year: 2018

Images captured under outdoor scenes usually suffer from low contrast and limited visibility due to suspended atmospheric particles, which directly affects the quality of photos. Despite numerous image dehazing methods have been proposed, effective hazy image restoration remains a challenging problem. Existing learning-based methods usually predict the medium transmission by Convolutional Neural Networks (CNNs), but ignore the key global atmospheric light. Different from previous learning-based methods, we propose a flexible cascaded CNN for single hazy image restoration, which considers the medium transmission and global atmospheric light jointly by two task-driven subnetworks. Specifically, the medium transmission estimation subnetwork is inspired by the densely connected CNN while the global atmospheric light estimation subnetwork is a light-weight CNN. Besides, these two subnetworks are cascaded by sharing the common features. Finally, with the estimated model parameters, the haze-free image is obtained by the atmospheric scattering model inversion, which achieves more accurate and effective restoration performance. Qualitatively and quantitatively experimental results on the synthetic and real-world hazy images demonstrate that the proposed method effectively removes haze from such images, and outperforms several state-of-the-art dehazing methods.
Stochastic Learning under Random Reshuffling with Constant Step-sizes
Venue: arXiv cs.LG 2018
Year: 2018

In empirical risk optimization, it has been observed that stochastic gradient implementations that rely on random reshuffling of the data achieve better performance than implementations that rely on sampling the data uniformly. Recent works have pursued justifications for this behavior by examining the convergence rate of the learning process under diminishing step-sizes. This work focuses on the constant step-size case and strongly convex loss function. In this case, convergence is guaranteed to a small neighborhood of the optimizer albeit at a linear rate. The analysis establishes analytically that random reshuffling outperforms uniform sampling by showing explicitly that iterates approach a smaller neighborhood of size $O(μ^2)$ around the minimizer rather than $O(μ)$. Furthermore, we derive an analytical expression for the steady-state mean-square-error performance of the algorithm, which helps clarify in greater detail the differences between sampling with and without replacement. We also explain the periodic behavior that is observed in random reshuffling implementations.
Non-rigid 3D Shape Registration using an Adaptive Template
Venue: arXiv cs.CV 2018
Year: 2018

We present a new fully-automatic non-rigid 3D shape registration (morphing) framework comprising (1) a new 3D landmarking and pose normalisation method; (2) an adaptive shape template method to accelerate the convergence of registration algorithms and achieve a better final shape correspondence and (3) a new iterative registration method that combines Iterative Closest Points with Coherent Point Drift (CPD) to achieve a more stable and accurate correspondence establishment than standard CPD. We call this new morphing approach Iterative Coherent Point Drift (ICPD). Our proposed framework is evaluated qualitatively and quantitatively on three datasets and compared with several other methods. The proposed framework is shown to give state-of-the-art performance.
Information Theoretic Interpretation of Deep learning
Venue: arXiv cs.LG 2018
Year: 2018

We interpret part of the experimental results of Shwartz-Ziv and Tishby [2017]. Inspired by these results, we established a conjecture of the dynamics of the machinary of deep neural network. This conjecture can be used to explain the counterpart result by Saxe et al. [2018].
3D Soil Compaction Mapping through Kriging-based Exploration with a Mobile Robot
Venue: arXiv cs.RO 2018
Year: 2018

This paper presents an automated method for creating spatial maps of soil condition with an outdoor mobile robot. Effective soil mapping on farms can enhance yields, reduce inputs and help protect the environment. Traditionally, data are collected manually at an arbitrary set of locations, then soil maps are constructed offline using Kriging, a form of Gaussian process regression. This process is laborious and costly, limiting the quality and resolution of the resulting information. Instead, we propose to use an outdoor mobile robot for automatic collection of soil condition data, building soil maps online and also adapting the robot's exploration strategy on-the-fly based on the current quality of the map. We show how using Kriging variance as a reward function for robotic exploration allows for both more efficient data collection and better soil models. This work presents the theoretical foundations for our proposal and an experimental comparison of exploration strategies using soil compaction data from a field generated with a mobile robot.
Clustering to Reduce Spatial Data Set Size
Venue: arXiv cs.LG 2018
Year: 2018

Traditionally it had been a problem that researchers did not have access to enough spatial data to answer pressing research questions or build compelling visualizations. Today, however, the problem is often that we have too much data. Spatially redundant or approximately redundant points may refer to a single feature (plus noise) rather than many distinct spatial features. We use a machine learning approach with density-based clustering to compress such spatial data into a set of representative features.
Robust Blind Deconvolution via Mirror Descent
Venue: arXiv cs.CV 2018
Year: 2018

We revisit the Blind Deconvolution problem with a focus on understanding its robustness and convergence properties. Provable robustness to noise and other perturbations is receiving recent interest in vision, from obtaining immunity to adversarial attacks to assessing and describing failure modes of algorithms in mission critical applications. Further, many blind deconvolution methods based on deep architectures internally make use of or optimize the basic formulation, so a clearer understanding of how this sub-module behaves, when it can be solved, and what noise injection it can tolerate is a first order requirement. We derive new insights into the theoretical underpinnings of blind deconvolution. The algorithm that emerges has nice convergence guarantees and is provably robust in a sense we formalize in the paper. Interestingly, these technical results play out very well in practice, where on standard datasets our algorithm yields results competitive with or superior to the state of the art. Keywords: blind deconvolution, robust continuous optimization
Generic Zero-Cost Reuse for Dependent Types
Venue: arXiv cs.PL 2018
Year: 2018

Dependently typed languages are well known for having a problem with code reuse. Traditional non-indexed algebraic datatypes (e.g. lists) appear alongside a plethora of indexed variations (e.g. vectors). Functions are often rewritten for both non-indexed and indexed versions of essentially the same datatype, which is a source of code duplication. We work in a Curry-style dependent type theory, where the same untyped term may be classified as both the non-indexed and indexed versions of a datatype. Many solutions have been proposed for the problem of dependently typed reuse, but we exploit Curry-style type theory in our solution to not only reuse data and programs, but do so at zero-cost (without a runtime penalty). Our work is an exercise in dependently typed generic programming, and internalizes the process of zero-cost reuse as the identity function in a Curry-style theory.
Viewport-Driven Rate-Distortion Optimized 360° Video Streaming
Venue: arXiv cs.MM 2018
Year: 2018

The growing popularity of virtual and augmented reality communications and 360° video streaming is moving video communication systems into much more dynamic and resource-limited operating settings. The enormous data volume of 360° videos requires an efficient use of network bandwidth to maintain the desired quality of experience for the end user. To this end, we propose a framework for viewport-driven rate-distortion optimized 360° video streaming that integrates the user view navigation pattern and the spatiotemporal rate-distortion characteristics of the 360° video content to maximize the delivered user quality of experience for the given network/system resources. The framework comprises a methodology for constructing dynamic heat maps that capture the likelihood of navigating different spatial segments of a 360° video over time by the user, an analysis and characterization of its spatiotemporal rate-distortion characteristics that leverage preprocessed spatial tilling of the 360° view sphere, and an optimization problem formulation that characterizes the delivered user quality of experience given the user navigation patterns, 360° video encoding decisions, and the available system/network resources. Our experimental results demonstrate the advantages of our framework over the conventional approach of streaming a monolithic uniformly encoded 360° video and a state-of-the-art reference method. Considerable video quality gains of 4 - 5 dB are demonstrated in the case of two popular 4K 360° videos.
Residual Networks: Lyapunov Stability and Convex Decomposition
Venue: arXiv cs.LG 2018
Year: 2018

While training error of most deep neural networks degrades as the depth of the network increases, residual networks appear to be an exception. We show that the main reason for this is the Lyapunov stability of the gradient descent algorithm: for an arbitrarily chosen step size, the equilibria of the gradient descent are most likely to remain stable for the parametrization of residual networks. We then present an architecture with a pair of residual networks to approximate a large class of functions by decomposing them into a convex and a concave part. Some parameters of this model are shown to change little during training, and this imperfect optimization prevents overfitting the data and leads to solutions with small Lipschitz constants, while providing clues about the generalization of other deep networks.
Development of a Steel Bridge Climbing Robot
Venue: arXiv cs.RO 2018
Year: 2018

Motivated by a high demand for automated inspection of civil infrastructure, this work presents a new design and development of a tank-like robot for structural health monitoring. Unlike most existing magnetic wheeled mobile robot designs, which may be suitable for climbing on flat steel surface, our proposed tank-like robot design uses reciprocating mechanism and roller-chains to make it capable of climbing on different structural shapes (e.g., cylinder, cube) with coated or non-coated steel surfaces. The proposed robot is able to transition from one surface to the other (e.g., from flat surface to curving surface). Taking into account of several strict considerations (including tight dimension, efficient adhesion and climbing flexibility) to adapt with various shapes of steel structures, a prototype tank-like robot incorporating multiple sensors (hall-effects, sonars, inertial measurement unit and camera), has been developed. Rigorous analysis of robot kinematics, adhesion force, sliding failure and turn-over failure has been conducted to demonstrate the stability of the proposed design. Mechanical and magnetic force analysis together with sliding/turn-over failure investigation can serve as an useful framework for designing various steel climbing robots in the future. Experimental results and field deployments confirm the adhesion and climbing capability of the developed robot.
A Topological Approach to Secure Message Dissemination in Vehicular Networks
Venue: arXiv cs.IT 2018
Year: 2018

Secure message dissemination is an important issue in vehicular networks, especially considering the vulnerability of vehicle to vehicle message dissemination to malicious attacks. Traditional security mechanisms, largely based on message encryption and key management, can only guarantee secure message exchanges between known source and destination pairs. In vehicular networks however, every vehicle may learn its surrounding environment and contributes as a source, while in the meantime act as a destination or a relay of information from other vehicles, message exchanges often occur between "stranger" vehicles. For secure message dissemination in vehicular networks against insider attackers, who may tamper the content of the disseminated messages, ensuring the consistency and integrity of the transmitted messages becomes a major concern that traditional message encryption and key management based approaches fall short to provide. In this paper, by incorporating the underlying network topology information, we propose an optimal decision algorithm that is able to maximize the chance of making a correct decision on the message content, assuming the prior knowledge of the percentage of malicious vehicles in the network. Furthermore, a novel heuristic decision algorithm is proposed that can make decisions without the aforementioned knowledge of the percentage of malicious vehicles. Simulations are conducted to compare the security performance achieved by our proposed decision algorithms with that achieved by existing ones that do not consider or only partially consider the topological information, to verify the effectiveness of the algorithms. Our results show that by incorporating the network topology information, the security performance can be much improved. This work shed light on the optimum algorithm design for secure message dissemination.
Cross-infrastructure holistic experiment design for cyber-physical energy system validation
Venue: arXiv cs.SY 2018
Year: 2018

Strong digitalization and shifting from unidirectional to bidirectional topology have transformed the electrical grid into a cyber-physical energy system, i.e. smart grid, with strong interdependency among various domains. It is mandatory to develop a comprehensive and holistic validation approach for such large scale system. However, a single research infrastructure may not have sufficient expertise and equipment for such test, without huge or eventually unfeasible investment. In this paper, we propose another adequate approach: connecting existing and established infrastructures with complementary specialization and facilities into a cross-infrastructure holistic experiment. The proposition enables testing of CPES assessment research in near real-world scenario without significant investment while efficiently exploiting the existing infrastructures. Hybrid cloud based architecture is considered as the support for such setup and the design of cross-infrastructure experiment is also covered.
Speaker Clustering With Neural Networks And Audio Processing
Venue: arXiv cs.SD 2018
Year: 2018

Speaker clustering is the task of differentiating speakers in a recording. In a way, the aim is to answer "who spoke when" in audio recordings. A common method used in industry is feature extraction directly from the recording thanks to MFCC features, and by using well-known techniques such as Gaussian Mixture Models (GMM) and Hidden Markov Models (HMM). In this paper, we studied neural networks (especially CNN) followed by clustering and audio processing in the quest to reach similar accuracy to state-of-the-art methods.
Learning through deterministic assignment of hidden parameters
Venue: arXiv cs.LG 2018
Year: 2018

Supervised learning frequently boils down to determining hidden and bright parameters in a parameterized hypothesis space based on finite input-output samples. The hidden parameters determine the attributions of hidden predictors or the nonlinear mechanism of an estimator, while the bright parameters characterize how hidden predictors are linearly combined or the linear mechanism. In traditional learning paradigm, hidden and bright parameters are not distinguished and trained simultaneously in one learning process. Such an one-stage learning (OSL) brings a benefit of theoretical analysis but suffers from the high computational burden. To overcome this difficulty, a two-stage learning (TSL) scheme, featured by learning through deterministic assignment of hidden parameters (LtDaHP) was proposed, which suggests to deterministically generate the hidden parameters by using minimal Riesz energy points on a sphere and equally spaced points in an interval. We theoretically show that with such deterministic assignment of hidden parameters, LtDaHP with a neural network realization almost shares the same generalization performance with that of OSL. We also present a series of simulations and application examples to support the outperformance of LtDaHP
Design Principles for Sparse Matrix Multiplication on the GPU
Venue: arXiv cs.DC 2018
Year: 2018

We implement two novel algorithms for sparse-matrix dense-matrix multiplication (SpMM) on the GPU. Our algorithms expect the sparse input in the popular compressed-sparse-row (CSR) format and thus do not require expensive format conversion. While previous SpMM work concentrates on thread-level parallelism, we additionally focus on latency hiding with instruction-level parallelism and load-balancing. We show, both theoretically and experimentally, that the proposed SpMM is a better fit for the GPU than previous approaches. We identify a key memory access pattern that allows efficient access into both input and output matrices that is crucial to getting excellent performance on SpMM. By combining these two ingredients---(i) merge-based load-balancing and (ii) row-major coalesced memory access---we demonstrate a 4.1x peak speedup and a 31.7% geomean speedup over state-of-the-art SpMM implementations on real-world datasets.
Alarm-Based Prescriptive Process Monitoring
Venue: arXiv cs.LG 2018
Year: 2018

Predictive process monitoring is concerned with the analysis of events produced during the execution of a process in order to predict the future state of ongoing cases thereof. Existing techniques in this field are able to predict, at each step of a case, the likelihood that the case will end up in an undesired outcome. These techniques, however, do not take into account what process workers may do with the generated predictions in order to decrease the likelihood of undesired outcomes. This paper proposes a framework for prescriptive process monitoring, which extends predictive process monitoring approaches with the concepts of alarms, interventions, compensations, and mitigation effects. The framework incorporates a parameterized cost model to assess the cost-benefit tradeoffs of applying prescriptive process monitoring in a given setting. The paper also outlines an approach to optimize the generation of alarms given a dataset and a set of cost model parameters. The proposed approach is empirically evaluated using a range of real-life event logs.
Optimizing the Trade-off between Single-Stage and Two-Stage Object Detectors using Image Difficulty Prediction
Venue: arXiv cs.CV 2018
Year: 2018

There are mainly two types of state-of-the-art object detectors. On one hand, we have two-stage detectors, such as Faster R-CNN (Region-based Convolutional Neural Networks) or Mask R-CNN, that (i) use a Region Proposal Network to generate regions of interests in the first stage and (ii) send the region proposals down the pipeline for object classification and bounding-box regression. Such models reach the highest accuracy rates, but are typically slower. On the other hand, we have single-stage detectors, such as YOLO (You Only Look Once) and SSD (Singe Shot MultiBox Detector), that treat object detection as a simple regression problem by taking an input image and learning the class probabilities and bounding box coordinates. Such models reach lower accuracy rates, but are much faster than two-stage object detectors. In this paper, we propose to use an image difficulty predictor to achieve an optimal trade-off between accuracy and speed in object detection. The image difficulty predictor is applied on the test images to split them into easy versus hard images. Once separated, the easy images are sent to the faster single-stage detector, while the hard images are sent to the more accurate two-stage detector. Our experiments on PASCAL VOC 2007 show that using image difficulty compares favorably to a random split of the images. Our method is flexible, in that it allows to choose a desired threshold for splitting the images into easy versus hard.
Learning Deep Context-Network Architectures for Image Annotation
Venue: arXiv cs.CV 2018
Year: 2018

Context plays an important role in visual pattern recognition as it provides complementary clues for different learning tasks including image classification and annotation. In the particular scenario of kernel learning, the general recipe of context-based kernel design consists in learning positive semi-definite similarity functions that return high values not only when data share similar content but also similar context. However, in spite of having a positive impact on performance, the use of context in these kernel design methods has not been fully explored; indeed, context has been handcrafted instead of being learned. In this paper, we introduce a novel context-aware kernel design framework based on deep learning. Our method discriminatively learns spatial geometric context as the weights of a deep network (DN). The architecture of this network is fully determined by the solution of an objective function that mixes content, context and regularization, while the parameters of this network determine the most relevant (discriminant) parts of the learned context. We apply this context and kernel learning framework to image classification using the challenging ImageCLEF Photo Annotation benchmark; the latter shows that our deep context learning provides highly effective kernels for image classification as corroborated through extensive experiments.
Performance Analysis of C-V2I-based Automotive Collision Avoidance
Venue: arXiv cs.NI 2018
Year: 2018

One of the key applications envisioned for C-V2I (Cellular Vehicle-to-Infrastructure) networks pertains to safety on the road. Thanks to the exchange of Cooperative Awareness Messages (CAMs), vehicles and other road users (e.g., pedestrians) can advertise their position, heading and speed and sophisticated algorithms can detect potentially dangerous situations leading to a crash. In this paper, we focus on the safety application for automotive collision avoidance at intersections, and study the effectiveness of its deployment in a C-V2I-based infrastructure. In our study, we also account for the location of the server running the application as a factor in the system design. Our simulation-based results, derived in real-world scenarios, provide indication on the reliability of algorithms for car-to-car and car-to-pedestrian collision avoidance, both when a human driver is considered and when automated vehicles (with faster reaction times) populate the streets.